/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "IIC.h"
#include "mpu6050.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "udm.h"
#include "motor.h"
#include "encoder_module.h"
#include "servo.h"
#include "angle_sensor.h"
#include "stepper_motor.h"
#include "control.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
short i = 0;
encoder_handle_t encoder1, encoder2;
dual_motor_controller_t g_dual_motor;
int32_t encoder_count = 0;
short speed = 0;

int Counter_1;
int32_t CounterAll_1;
uint32_t sys_tick; 
float udm_distance = 0;

float pitch, roll, yaw;
short aacx, aacy, aacz;
short gyrox, gyroy, gyroz;
float temp;
float angle_f = 0.0f;
uint8_t test11[11] = {1,2,3,4,5,6};


/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */


/**
	* @brief  电机pid初始化   
  */
void Motor_Control_Init(void)
{
		Encoder_Create(&htim2);
		Encoder_QuickInit(&htim2, &encoder1);
		Encoder_Create(&htim5);
		Encoder_QuickInit(&htim5, &encoder2);
		motor12_init();
 
    /* 初始化双电机控制器 */
    DualMotor_Init(&g_dual_motor, encoder1, encoder2);
    
    /* 设置速度PID参数（根据实际电机调整） */
    DualMotor_SetSpeedPID(&g_dual_motor, 1, 2.8f, 0.4, 0);  /* 电机1 */
    DualMotor_SetSpeedPID(&g_dual_motor, 2, 15.0f, 2.0f, 0.2f);  /* 电机2 */
    
    /* 设置位置PID参数 */
    DualMotor_SetPositionPID(&g_dual_motor, 1, 8.0f, 0.5f, 1.0f);  /* 电机1 */
    DualMotor_SetPositionPID(&g_dual_motor, 2, 8.0f, 0.5f, 1.0f);  /* 电机2 */
    
    /* 设置控制模式为速度控制 */
    DualMotor_SetMode(&g_dual_motor, MOTOR_MODE_SPEED);
    
    /* 启动电机控制 */
    DualMotor_Enable(&g_dual_motor, 1);
}


/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
	
	
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_I2C3_Init();
  MX_USART2_UART_Init();
  MX_USART6_UART_Init();
  MX_TIM8_Init();
  MX_TIM13_Init();
  MX_TIM2_Init();
  MX_TIM5_Init();
  MX_ADC1_Init();
  MX_USART1_UART_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
//  MPU_Init();			//MPU6050初始化
//  mpu_dmp_init();		//dmp初始化
	//HAL_TIM_Base_Start(&htim1);

//	udm_init();
//	servo1_init();
//  printf("start!");
//	    MPU_Init();
//    mpu_dmp_init();
	//angle_sensor_init();
//	HAL_Delay(500);

//	HAL_Delay(10);
		STEPMotor_Reset();
		STEP_MotorCtrl(0x02, STEP_MODE_POSITION, 0x00, 0x20, 900, 100); //电机ID，电机模式，电机方向，电机细分，绝对角度*10，速度*10
		//Motor_Control_Init();
    /* 设置初始速度 */
    //DualMotor_SetSpeedTarget(&g_dual_motor, 60, 300);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		//HAL_UART_Transmit(&huart2, test11, sizeof(test11),HAL_MAX_DELAY);
//			 HAL_Delay(500);
//        
//        // 获取传感器数据
//        while(mpu_dmp_get_data(&pitch, &roll, &yaw));
//        MPU_Get_Accelerometer(&aacx, &aacy, &aacz);
//        MPU_Get_Gyroscope(&gyrox, &gyroy, &gyroz);
//        temp = MPU_Get_Temperature();
//        
//        // 输出数据
//        printf("Roll:%.1f° Pitch:%.1f° Yaw:%.1f°\n", roll, pitch, yaw);
//        printf("Accel: X:%d Y:%d Z:%d\n", aacx, aacy, aacz);
//        printf("Gyro: X:%d Y:%d Z:%d\n", gyrox, gyroy, gyroz);
//        printf("Temp: %.2f°C\n", temp/100);
//		Moter_SetSpeed(200,  0 , 0 , 0);
//		int32_t count = Encoder_GetCount(encoder);
		//Moter_SetSpeed(200,  0 , 0 , 0);
//		DualMotor_Control(&g_dual_motor);
//    HAL_Delay(10);  /* 10ms控制周期 */
//		int16_t speed = Encoder_GetSpeed(encoder1);
//		printf("speed:%d\n", speed);
//    float position = Encoder_GetPosition(encoder);
//    Counter_1 =  __HAL_TIM_GET_COUNTER(&htim2);  
//    printf("Counter_1: %d, counts: %d, speed: %d RPM, postion: %.1f mm\n",Counter_1, count, speed, position);
//		printf("Counter_1: %d\r\n",Counter_1);
//		HAL_Delay(3000);
//		set_servo_angle(90, servo1_TIM_CHANNEL);
//		HAL_Delay(3000);
//		set_servo_angle(180, servo1_TIM_CHANNEL);
//		HAL_Delay(3000);
//		set_servo_angle(270, servo1_TIM_CHANNEL);
	//__HAL_TIM_SetCompare(&servo_TIM,servo1_TIM_CHANNEL,1.5 / 20 * PWM_PERIOD_COUNT);
//		measureDistance();
			
			//printf("Instance=%p, gState=%d\n",huart6.Instance, huart6.gState);

			//printf("Angle: %.2f deg\r\n", angle_f);
		//HAL_Delay(50);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
